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More sorts of currents in feedback #5

Merged
0xFEEDC0DE64 merged 2 commits from more-currents-in-state into master 2021-06-28 10:34:10 +02:00
Conversation 0 Commits 2 Files Changed 3 +52 -24
3 changed files with 52 additions and 24 deletions
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8
bobbycar-can.h
View File

@ -3,7 +3,9 @@
#include <cstdint>
namespace bobbycar {
namespace protocol {
namespace can {
template<bool isBack, bool isRight>
class MotorController
{
@ -196,5 +198,7 @@ inline const char *bobbycarCanIdDesc(uint16_t id)
}
return "Unknown";
}
}
}
} // namespace can
} // namespace protocol
} // namespace bobbycar

6
bobbycar-common.h
View File

@ -2,6 +2,9 @@
#include <stdint.h>
namespace bobbycar {
namespace protocol {
enum class ControlType : uint8_t {
Commutation,
Sinusoidal,
@ -14,3 +17,6 @@ enum class ControlMode : uint8_t {
Speed, // Only with FieldOrientedControl
Torque // Only with FieldOrientedControl
};
} // namespace protocol
} // namespace bobbycar

62
bobbycar-serial.h
View File

@ -4,6 +4,10 @@
#include "bobbycar-common.h"
namespace bobbycar {
namespace protocol {
namespace serial {
struct MotorState {
bool enable = false;
int16_t pwm = 0;
@ -67,7 +71,10 @@ struct MotorFeedback {
int16_t angle = 0;
int16_t speed = 0;
uint8_t error = 0;
int16_t current = 0;
int16_t dcLink = 0;
int16_t dcPhaA = 0;
int16_t dcPhaB = 0;
int16_t dcPhaC = 0;
uint16_t chops = 0;
bool hallA = false;
bool hallB = false;
@ -76,8 +83,9 @@ struct MotorFeedback {
inline uint16_t calculateChecksum(MotorFeedback feedback) {
return feedback.angle ^ feedback.speed ^
feedback.error ^ feedback.current ^
feedback.chops ^
feedback.error ^ feedback.dcLink ^
feedback.dcPhaA ^ feedback.dcPhaB ^
feedback.dcPhaC ^ feedback.chops ^
feedback.hallA ^ feedback.hallB ^ feedback.hallC;
}
@ -108,33 +116,39 @@ inline uint16_t calculateChecksum(Feedback feedback) {
#define ASSERT_LAYOUT(st, memb, off) \
static_assert(offsetof(st, memb) == off, "struct layout wrong");
static_assert(offsetof(st, memb) == off, "struct layout wrong");
ASSERT_LAYOUT(Feedback, start, 0);
ASSERT_LAYOUT(Feedback, left, 2);
ASSERT_LAYOUT(Feedback, left.angle, 2);
ASSERT_LAYOUT(Feedback, left.speed, 4);
ASSERT_LAYOUT(Feedback, left.error, 6);
ASSERT_LAYOUT(Feedback, left.current, 8);
ASSERT_LAYOUT(Feedback, left.chops, 10);
ASSERT_LAYOUT(Feedback, left.hallA, 12);
ASSERT_LAYOUT(Feedback, left.hallB, 13);
ASSERT_LAYOUT(Feedback, left.hallC, 14);
ASSERT_LAYOUT(Feedback, left.dcLink, 8);
ASSERT_LAYOUT(Feedback, left.dcPhaA, 10);
ASSERT_LAYOUT(Feedback, left.dcPhaB, 12);
ASSERT_LAYOUT(Feedback, left.dcPhaC, 14);
ASSERT_LAYOUT(Feedback, left.chops, 16);
ASSERT_LAYOUT(Feedback, left.hallA, 18);
ASSERT_LAYOUT(Feedback, left.hallB, 19);
ASSERT_LAYOUT(Feedback, left.hallC, 20);
ASSERT_LAYOUT(Feedback, right, 16);
ASSERT_LAYOUT(Feedback, right.angle, 16);
ASSERT_LAYOUT(Feedback, right.speed, 18);
ASSERT_LAYOUT(Feedback, right.error, 20);
ASSERT_LAYOUT(Feedback, right.current, 22);
ASSERT_LAYOUT(Feedback, right.chops, 24);
ASSERT_LAYOUT(Feedback, right.hallA, 26);
ASSERT_LAYOUT(Feedback, right.hallB, 27);
ASSERT_LAYOUT(Feedback, right.hallC, 28);
ASSERT_LAYOUT(Feedback, right, 22);
ASSERT_LAYOUT(Feedback, right.angle, 22);
ASSERT_LAYOUT(Feedback, right.speed, 24);
ASSERT_LAYOUT(Feedback, right.error, 26);
ASSERT_LAYOUT(Feedback, right.dcLink, 28);
ASSERT_LAYOUT(Feedback, right.dcPhaA, 30);
ASSERT_LAYOUT(Feedback, right.dcPhaB, 32);
ASSERT_LAYOUT(Feedback, right.dcPhaC, 34);
ASSERT_LAYOUT(Feedback, right.chops, 36);
ASSERT_LAYOUT(Feedback, right.hallA, 38);
ASSERT_LAYOUT(Feedback, right.hallB, 39);
ASSERT_LAYOUT(Feedback, right.hallC, 40);
ASSERT_LAYOUT(Feedback, batVoltage, 30);
ASSERT_LAYOUT(Feedback, boardTemp, 32);
ASSERT_LAYOUT(Feedback, timeoutCntSerial, 34);
ASSERT_LAYOUT(Feedback, checksum, 36);
ASSERT_LAYOUT(Feedback, batVoltage, 42);
ASSERT_LAYOUT(Feedback, boardTemp, 44);
ASSERT_LAYOUT(Feedback, timeoutCntSerial, 46);
ASSERT_LAYOUT(Feedback, checksum, 48);
static_assert(sizeof(Command) == 32, "sizeof(Command) wrong");
@ -168,3 +182,7 @@ ASSERT_LAYOUT(Command, buzzer.pattern, 27);
ASSERT_LAYOUT(Command, poweroff, 28);
ASSERT_LAYOUT(Command, led, 29);
ASSERT_LAYOUT(Command, checksum, 30);
} // namespace serial
} // namespace protocol
} // namespace bobbycar